Current ros_openpose_synchronous.py crashes with openpose 1.7.0 about ros_openpose HOT 5 CLOSED

@ravijo Merged the latest changes and submitted a new pull request.

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@ravijo, Yeah, I remember seeing this difference between Openpose 1.7 and 1.6. I was originally planning on incorporating something like your pseudocode (similar to how the asynchronous module was fixed to handle Openpose 1.7), but I must have forgotten about it.

Good news is that the only code that needs to be changed are the lines you identified so it's a simple fix.

Just submitted request #38. Should work now for versions 1.6+.

@luorui93, please submit a pull request to fix the nobody or partial body crashing. I didn't catch that problem when I was testing it but glad that you did.

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@QuantuMope Thank you so much for the quick response!

@luorui93 Please do the needful as suggested by @QuantuMope. Please do not forget to pull the latest changes before you make a pull request.

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Hello @luorui93

This is probably due to the change of emplaceAndPop() in new op_wrapper.
I've updated the code in my fork here:
luorui93@97ad917

Thank you very much for reporting this issue.

Unfortunately, the ros_openpose_synchronous.py was tested with OpenPose 1.6.0 only. Please see the first item under Implementation Versions Info. section. So it is understandable that this bug may have arrived.

I also made some changes to the code so the program won't crash when nobody or only partial body is detected.
Should I make a pull request or something? Sorry I'm not very familiar with the standard procedure.

Yes, please make a pull request.

Meanwhile, I am tagging @QuantuMope who kindly provided this version.

@luorui93
As you said, based on your recent commit, the emplaceAndPop is changed. I am writing down the changes so that QuantuMope can understand quickly without reading your commit.

Before

op_wrapper.emplaceAndPop([datum])

Now

op_wrapper.emplaceAndPop(op.VectorDatum([datum]))

The above changes once done may break support for OpenPose older than 1.7. I can think of a workaround using a flag inside the Python code as shown below (this is a pseudo-code):

OPENPOSE1POINT7_OR_HIGHER = op.__version__ >= 1.7.0

if OPENPOSE1POINT7_OR_HIGHER:
    op_wrapper.emplaceAndPop(op.VectorDatum([datum]))
else:
    op_wrapper.emplaceAndPop([datum])

• Please suggest if there is a better way!
• I think other changes such as checking a null object, i.e., None should work without any workaround.

Looking forward to hearing opinions from everyone.

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@luorui93
If the synchronous node is now working on your end for Openpose 1.7.0, don't forget to close the issue.

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